## Description

Class for incremental form of state of time-integrable objects.

Note that for many cases, this would be superfluous, because one could do y_new = y_old + dydt*td, where dydt is a ChState just like y and y_new, but there are cases where such simple "+" operations between vectors is not practical, for instance when integrating rotations in 3D space, where it is better to work with quaternions in y and y_new, but with spinors/angular velocities/etc. in dydt; so dim(y) is not dim(dydt); hence the need of this specific class for increments in states. This is a vector (one-column matrix) which extends ChVectorDynamic.

`#include <ChState.h>`

Inherits ChVectorDynamic< double >.

## Public Member Functions | |

ChStateDelta (ChIntegrable *intgr=0) | |

Constructors. | |

ChStateDelta (Eigen::Index size, ChIntegrable *intgr) | |

ChStateDelta (ChVectorConstRef vec, ChIntegrable *intgr) | |

ChStateDelta (const ChStateDelta &other) | |

Copy constructor. | |

template<typename OtherDerived > | |

ChStateDelta & | operator= (const Eigen::MatrixBase< OtherDerived > &other) |

This method allows assigning Eigen expressions to ChStateDelta. | |

ChStateDelta | operator- () |

Unary minus operator. | |

ChStateDelta & | operator*= (double factor) |

Scale this state by the given value. | |

ChStateDelta | operator+ (ChVectorConstRef vec) const |

Return the sum of this state and another vector. | |

ChStateDelta | operator- (ChVectorConstRef vec) const |

Return the difference of this state vector and another vector. | |

ChStateDelta | operator* (double factor) const |

Return this state vector scaled by the given value. | |

void | setZero (Eigen::Index size, ChIntegrable *intgr) |

Reset to zeroes and (if needed) changes the size. | |

ChIntegrable * | GetIntegrable () const |

The documentation for this class was generated from the following file:

- /builds/uwsbel/chrono/src/chrono/timestepper/ChState.h